A ship lock safety perception and intelligent management and control method and system

Abstract

The application provides a ship lock safety perception and intelligent management and control method and system, relates to the ship lock automation technical field, and the method comprises the steps of: constructing a digital twin basic engine for ship lock automation operation management and control, constructing a high-precision twin scene model integrating multi-beam underwater topography and water-land integration according to the digital twin basic engine; constructing a ship digital twin body model according to a ship design drawing, a ship appearance photo and three-dimensional laser point cloud data; integrating the high-precision twin scene model and the ship digital twin body model to construct a digital twin scene; collecting safety monitoring data of key positions of the ship lock in real time through a data network; using the safety monitoring data to drive the digital twin scene to detect and alarm the safety of the ship lock; when it is judged that there is a risk, sending an interrupt instruction to a control system to realize safety perception and intelligent management and control of the ship lock. Through the method, the application realizes the leap of ship lock operation from "data-driven display" to "safety-driven control".

Description

Technical Field

[0001] This application relates to the field of lock automation technology, and in particular to a lock safety perception and intelligent control method and system. Background Technology

[0002] Ship locks are key navigation structures for inland waterway transportation, and their operation and management are characterized by high precision, complex processes, and significant safety risks. With the continuous growth of inland waterway traffic, the limitations of the traditional management model, which relies on manual operation and visual inspection, in terms of traffic efficiency, operating costs, and safety assurance are becoming increasingly apparent.

[0003] In recent years, digital twin technology has been introduced into the field of lock management. Existing technologies, such as CN113722806A, disclose a smart lock operation and control system based on digital twins, which realizes functions such as twin modeling, data access, simulation control, intelligent scheduling, and remote reporting, and displays the operational status through data-driven twin models. However, current technologies still have the following shortcomings:

[0004] First, there is an overemphasis on display and a neglect of safety. The existing system mainly realizes the visualization of the operation status and data statistical analysis, but lacks the ability to automatically determine the preconditions for unmanned safety at key nodes of lock passage (such as ship berthing verification, mooring confirmation, gate channel safety, and lock chamber clearance), and cannot support true full-process automated operation.

[0005] Second, the safety perception dimension is limited. The acquisition of key safety data such as ship draft and clearance height still relies on manual visual inspection or crew self-reporting, lacking automatic detection methods based on vision and lidar; the perception of risk points such as mooring status, gate alignment, gate head bounce, and pedestrian intrusion is almost non-existent, making it impossible to form an effective safety monitoring network.

[0006] Third, the twin system is disconnected from the physical control system. The twin system is only used for demonstration purposes and has not established a safety interlock mechanism with the control systems of gates and valves. When the twin system detects a risk (such as a pedestrian entering the gate area), it cannot automatically trigger the physical equipment to stop, resulting in a serious lag in safety response and reliance on remote manual intervention.

[0007] Fourth, there is a lack of response to special operating conditions. For example, locks affected by tidal bores lack a mechanism for early warning and linkage between the tidal gate and the lock.

[0008] Therefore, there is an urgent need for a system and method that can deeply integrate digital twins with automated safety judgment, multi-dimensional perception, and control interlocking. Summary of the Invention

[0009] This application provides a method and system for safety perception and intelligent control of ship locks, so as to realize the transformation of ship lock operation from "data-driven display" to "safety-driven control".

[0010] Firstly, this application provides a method and system for safety perception and intelligent control of ship locks, wherein the method is executed by a computing device. The computing device can be understood as a computer or similar device, and is not limited thereto in this application. The method includes:

[0011] A digital twin foundation engine for the automated operation and management of ship locks is constructed. Based on this engine, a high-precision twin scene model integrating multi-beam underwater topography and land-water integration is built. A digital twin model of the ship is constructed based on ship design drawings, ship exterior photographs, and 3D laser point cloud data. The high-precision twin scene model and the ship digital twin model are integrated to construct a digital twin scene. Safety monitoring data of key locations in the ship lock are collected in real time through a data network. The safety monitoring data includes at least one of the following: draft and over-height detection data, lock entry identity and quantity confirmation data, lock chamber grading and mooring data, ship over-line data, gate area safety data, lock chamber emptying data, and operating environment data. The safety monitoring data is used to drive the digital twin scene to detect and alarm on the safety of the ship lock. When a risk is detected, an interrupt command is sent to the control system to achieve safety perception and intelligent management of the ship lock.

[0012] Through the above methods, this application develops a digital twin foundation engine adapted for lock scenarios; constructs a high-precision integrated land-water twin scene that integrates multi-beam underwater topography and oblique photography; constructs a ship digital twin based on design drawings and laser point clouds; deploys a three-dimensional safety perception equipment network covering anchorage, pilotway, lock chamber, and gate areas; and accesses ship draft visual detection data, lidar height measurement data, lock entry identity and quantity recognition data, lock chamber gearing comparison data, mooring status recognition data, ship overstepping alarm data, gate pedestrian intrusion detection data, gate alignment and gate head bounce detection data, and lock chamber emptying confirmation data. According to the data, the system integrates the full-process control signals and safety interlock signals of the lock's automated operation control system; realizes dynamic driving and safety status visualization of digital twin scenarios based on real-time sensing data; achieves automatic determination of unmanned safety preconditions for key nodes in the entire lock passage process, and forms a safety linkage closed loop with the gate / valve control system; realizes over-limit warning and interception based on draft and over-height detection; realizes intelligent error correction based on comparison of berthing diagram and berthing position; realizes pedestrian intrusion interlock shutdown based on electronic fence and thermal imaging; realizes tidal gate surge warning and safety control; and realizes closed-loop management of twin data panels, operation alarms, and maintenance.

[0013] In the aforementioned method for safety perception and intelligent control of ship locks, a digital twin foundation engine for automated operation and control of ship locks is constructed. Based on the digital twin foundation engine, a high-precision twin scene model integrating multi-beam underwater terrain and land-water integration is built, including:

[0014] The digital twin basic engine has a built-in dynamic component library for lock operation, including at least one of the following: water level-driven dynamic surface rendering component, gate or valve opening and closing simulation component, ship navigation trajectory tracking component, and signal light status synchronization component; multi-source geographic information data including at least one of the following: remote sensing maps and digital elevation data, oblique photogrammetry data, multibeam underwater topographic measurement data, lock design drawings and building information models; and high-precision twin scene model scene content covering at least one of the following: upstream and downstream waterway and anchorage scene, upstream and downstream pilot channel scene, lock body, electromechanical equipment, mooring bollards, and berthing piers.

[0015] Through the above methods, this application constructs a digital twin basic engine system for the automated operation and control of ship locks. It has the ability to render large-scale integrated water and land scenes in real time in three dimensions, the ability to manage multiple types of twins collaboratively, and provides basic functions such as scene browsing, twin query and positioning, and weather and lighting simulation in a realistic three-dimensional digital environment.

[0016] The aforementioned methods for lock safety perception and intelligent control also include:

[0017] The system connects to the automated operation control system of the lock via an industrial control network and a secure programmable logic controller interface, generating control signals and status feedback signals. The control signals and status feedback signals include at least one of the following: control commands and position status feedback for the gate hoist, control commands and opening / closing degree feedback for the water valve hoist, operation mode signals for the lock centralized control system, control signals for traffic lights, and control signals for outdoor lighting and broadcasting systems.

[0018] Through the above methods, this application achieves real-time dynamic synchronization between the digital twin scenario and the physical lock operation, forming a safety closed loop of "perception-twin-judgment-linkage".

[0019] In the aforementioned method for safety perception and intelligent control of ship locks, when a risk is detected, an interrupt command is sent to the control system to achieve safety perception and intelligent control of the ship locks, including:

[0020] In a digital twin scenario, remote status monitoring and operation permission management are implemented for gate hoists, water valves, and traffic lights. When the digital twin system determines that there is a risk based on safety perception data, it sends an interrupt command to the control system through the safety interlock signal interface, and the physical equipment immediately stops operating.

[0021] Through the above methods, this application realizes the upgrade of the digital twin system from "passive display" to "proactive security control".

[0022] The aforementioned method for safety perception and intelligent control of ship locks, which involves sending an interrupt command to the control system when a risk is detected, thereby achieving safety perception and intelligent control of the ship lock, also includes:

[0023] Based on the risk level, the instructions sent to the control system are divided into three levels: prompt, warning, and interlock. The prompt level includes at least one of the following: the ship's berthing position deviates from the berthing chart, the mooring is not completed within the time limit, and the normal wear data record of the gate. The warning level includes at least one of the following: the ship's draft or height exceeds the limit, the gate's centering deviation exceeds the limit, the gate head bounces abnormally, the water level fluctuates abnormally, the tidal surge approaches the warning value, and the wind force reaches the warning value. The interlock level includes at least one of the following: pedestrians enter the gate area, ships cross the line and do not leave, the load instrument data increases or decreases abnormally during the gate opening and closing process, and dangerous goods ships illegally enter the no-stopping zone. The interlock level alarm automatically triggers an interruption command, which sends an emergency stop or prohibition command to the control system.

[0024] Through the above methods, this application realizes the automatic determination of unmanned safety preconditions at key nodes in the entire lock passage process. It can automatically trigger emergency stops of equipment in dangerous situations such as pedestrian intrusion, ship overtravel, and gate jamming, significantly improving the safety and automation level of lock operation.

[0025] The aforementioned methods for lock safety perception and intelligent control also include:

[0026] By storing equipment files in the ship's digital twin model, when a problem is discovered, a problem marker is generated at the corresponding location in the digital twin scene, which can then be used by maintenance personnel to develop maintenance plans.

[0027] Through the above methods, maintenance personnel can intuitively view the distribution of problems in the virtual twin scenario, formulate maintenance plans, assign tasks, track maintenance progress, and achieve closed-loop management of inspection-reporting-handling-acceptance.

[0028] Secondly, this application provides a lock safety perception and intelligent control system for performing the relevant content of the first aspect of this application, including: a model building module, a digital twin scenario building module, a safety monitoring module, and a safety alarm module;

[0029] The system comprises several modules: a model building module for constructing a digital twin foundation engine for automated operation and management of the lock; a model for building a high-precision digital twin scene that integrates multi-beam underwater terrain and land-water integration; a digital twin model for constructing a ship digital twin based on ship design drawings, ship exterior photographs, and 3D laser point cloud data; a digital twin scene construction module for integrating the high-precision digital twin scene model with the ship digital twin model to construct a digital twin scene; a safety monitoring module for collecting real-time safety monitoring data of key lock locations via a data network, including at least one of the following: draft and over-height detection data, lock entry identity and quantity confirmation data, lock chamber grading and mooring data, ship over-line data, gate area safety data, lock chamber emptying data, and operating environment data; and a safety alarm module for using safety monitoring data to drive the digital twin scene, detecting and alarming for lock safety, and sending an interrupt command to the control system when a risk is detected, thus achieving safety perception and intelligent management of the lock.

[0030] Thirdly, this application also provides a computing device, comprising: a memory for storing program instructions; and a processor for calling the program instructions stored in the memory and executing the method described in the first aspect according to the obtained program instructions.

[0031] Fourthly, this application also provides a computer-readable storage medium storing computer-readable instructions, which, when read and executed by a computer, implement the method of the first aspect described above.

[0032] Fifthly, this application provides a computer program product including a computer program executable by a computer device, which, when run on the computer device, causes the computer device to perform the method described in the first aspect.

[0033] Beneficial effects: This application develops a digital twin foundational engine adapted for lock scenarios; constructs a high-precision integrated land-water twin scene that incorporates multi-beam underwater topography and oblique photography; builds a digital twin of a ship based on design drawings and laser point clouds; deploys a three-dimensional safety sensing device network covering anchorage, pilotway, lock chamber, and gate areas; and integrates ship draft visual detection data, lidar height measurement data, lock entry identity and quantity recognition data, lock chamber grading comparison data, mooring status recognition data, ship overstepping alarm data, gate pedestrian intrusion detection data, gate alignment and gate head bounce detection data, and lock chamber emptying confirmation data. It integrates full-process control signals and safety interlock signals from the lock's automated operation control system; enables dynamic driving and safety status visualization of digital twin scenarios based on real-time sensing data; achieves automatic determination of unmanned safety preconditions for key nodes in the entire lock passage process, forming a safety linkage closed loop with the gate / valve control system; enables over-limit warning and interception based on draft and over-height detection; enables intelligent error correction based on comparison of berthing diagrams and berthing positions; enables pedestrian intrusion interlock shutdown based on electronic fences and thermal imaging; enables tidal gate surge warning and safety control; and enables closed-loop management of twin data panels, operation alarms, and maintenance. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A flowchart illustrating a lock safety sensing and intelligent control method provided in this application embodiment;

[0036] Figure 2 A flowchart illustrating another lock safety sensing and intelligent control method provided in this application embodiment;

[0037] Figure 3 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0039] In the following embodiments of this application, "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: the presence of A alone, the simultaneous presence of A and B, and the presence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item (one) or a plurality of items (plurality). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c may be a single one or a plurality of ones. The singular expressions "a", "an", "the", "the above", "said" and "this" are intended to also include expressions such as "one or more", unless the context clearly indicates otherwise. Also, unless otherwise stated, ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish a plurality of objects, and are not used to limit the order, time sequence, priority or importance degree of the plurality of objects.

[0040] References in the specification of this application to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of this application. Thus, the appearances of the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in additional embodiments" and the like in various places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another manner. The terms "comprise", "include", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in another manner.

[0041] Embodiment 1

[0042] Embodiment 1 of this application provides a ship lock safety perception and intelligent management and control method, which is executed by a computing device. The computing device can be understood as a computer or other equipment, which is not limited herein in this application. The process of the method is as follows Figure 1 as shown, including:

[0043] Step 101: Construct a digital twin basic engine for automatic operation management and control of ship locks, and construct a twin scene model integrating multi-beam underwater terrain and water-land integrated high precision according to the digital twin basic engine.

[0044] In a possible implementation, the digital twin basic engine has a built-in dynamic component library dedicated to ship lock operation, including at least one of a water level driven water surface dynamic rendering component, a gate or valve opening and closing simulation component, a ship navigation trajectory tracking component, and a signal light state synchronization component;

[0045] Multi-source geographic information data includes at least one of the following: remote sensing maps and digital elevation data, oblique photogrammetry data, multibeam underwater topographic data, lock design drawings, and building information models;

[0046] The high-precision twin scene model covers at least one of the following: upstream and downstream waterways and anchorages, upstream and downstream pilot channels, lock body, electromechanical equipment, mooring bollards, and berthing piers.

[0047] Step 102: Construct a digital twin model of the ship based on the ship design drawings, ship exterior photos, and 3D laser point cloud data.

[0048] In one possible implementation, the method further includes accessing the lock automation operation control system via an industrial control network and a secure programmable logic controller interface to generate control signals and status feedback signals.

[0049] Among them, the control signals and status feedback signals include at least one of the following: control commands and position status feedback of gate hoists, control commands and opening / closing degree feedback of water valve hoists, operation mode signals of the lock centralized control system, control signals of traffic lights, and control signals of outdoor lighting and broadcasting systems.

[0050] Step 103: Integrate the high-precision twin scene model with the ship digital twin model to construct a digital twin scene.

[0051] Step 104: Collect safety monitoring data of key locations in the lock in real time through the data network.

[0052] The safety monitoring data includes at least one of the following: draft and over-height detection data, lock entry identity and quantity confirmation data, lock chamber sluice gate and mooring data, vessel over-line data, gate area safety data, lock chamber emptying data, and operating environment data.

[0053] Step 105: Use safety monitoring data to drive the digital twin scenario to detect and alarm the safety of the lock. When a risk is detected, send an interrupt command to the control system to realize the safety perception and intelligent management of the lock.

[0054] In one possible implementation, remote status monitoring and operation permission management are performed on gate hoists, water valves, and traffic lights in a digital twin scenario. When the digital twin system determines that there is a risk based on safety perception data, it sends an interrupt command to the control system through the safety interlock signal interface, and the physical equipment immediately stops operating.

[0055] In one possible implementation, the instructions sent to the control system are divided into three levels based on the risk level: prompt, warning, and interlock.

[0056] The alert level includes at least one of the following: the vessel's berthing position deviates from the berthing chart, the mooring is not completed within the specified time, or the gate's normal wear data record; the warning level includes at least one of the following: the vessel's draft or height exceeds the limit, the gate's alignment deviation exceeds the limit, the gate head bounces abnormally, the water level fluctuates abnormally, the tidal surge approaches the warning value, or the wind force reaches the warning value; the interlocking level includes at least one of the following: pedestrians enter the gate area, vessels cross the line and do not leave, the load cell data changes abnormally during the gate opening and closing process, or dangerous goods vessels illegally enter the no-stopping zone.

[0057] Interlocking-level alarms automatically trigger interrupt commands, sending emergency stop or prohibition commands to the control system.

[0058] In one possible implementation, the method further includes generating a problem marker at the corresponding location in the digital twin scene when a problem is detected, using the ship's digital twin model storage device archive, so that maintenance personnel can formulate a maintenance plan.

[0059] This application develops a digital twin foundation engine adapted for lock scenarios; constructs a high-precision integrated land-water twin scene that integrates multi-beam underwater topography and oblique photography; constructs a ship digital twin based on design drawings and laser point clouds; deploys a three-dimensional safety sensing device network covering anchorage, pilotway, lock chamber, and gate areas; and integrates ship draft visual detection data, lidar height measurement data, lock entry identity and quantity recognition data, lock chamber gearing comparison data, mooring status recognition data, ship overstepping alarm data, gate pedestrian intrusion detection data, gate alignment and gate head bounce detection data, and lock chamber emptying confirmation data. The automated operation control system for the ship lock provides full-process control signals and safety interlock signals; enables dynamic driving and safety status visualization of digital twin scenarios based on real-time sensing data; achieves automatic determination of unmanned safety preconditions at key nodes throughout the lock passage process, forming a safety linkage closed loop with the gate / valve control system; enables over-limit warning and interception based on draft and over-height detection; enables intelligent error correction based on comparison of berthing diagrams and berthing positions; enables pedestrian intrusion interlock shutdown based on electronic fences and thermal imaging; enables tidal gate surge warning and safety control; and enables closed-loop management of twin data panels, operation alarms, and maintenance.

[0060] Example 2

[0061] This application provides an example of a specific implementation of a lock safety perception and intelligent control method based on embodiment 1. The method is as follows: Figure 2 As shown, it includes:

[0062] Step 1: Develop the basic system using an open-source digital twin engine;

[0063] Specifically, adaptive development of water conservancy scenarios is carried out through open-source digital twin engines such as Unity 3D and UE4, to construct a basic digital twin engine system for the automatic operation management and control of ship locks. The difference between the basic engine system and general-purpose engines lies in that: it has a built-in dynamic component library dedicated to ship lock operation, including a water level-driven water surface dynamic rendering component, a gate / valve opening and closing simulation component, a ship navigation trajectory tracking component, and a signal light state synchronization component; it supports real-time access and low-latency driving of multi-source heterogeneous sensing data, that is, the data refresh frequency is no less than 1Hz; it provides a security event-driven scenario highlighting positioning and animation warning interface for linkage triggering with external automatic control systems. The engine is equipped with the 3D real-time rendering capability of large-scale land-water integrated scenarios and the collaborative management capability of multiple types of twins, and provides basic functions such as scenario browsing, twin query and positioning, weather and illumination simulation in a 3D realistic digital environment.

[0064] Step 2: Construct the digital twin scenario model of the ship lock;

[0065] Specifically, a high-precision land-water integrated digital twin scenario model of the ship lock is constructed by fusing multi-source geographic information data. The multi-source geographic information data includes: remote sensing maps and DEM digital elevation data, used for constructing the macro topographic scenario model; oblique photogrammetry data, used for constructing the surface and building scenario models in the lock area; multi-beam underwater topographic survey data, used for constructing the underwater topographic scenario models of the navigation channel and the approach channel, which is processed by filtering and Kriging interpolation to generate a high-precision underwater digital elevation model; ship lock design drawings and BIM models, used for constructing the scenario models of main structures and electromechanical equipment such as lock heads, lock chambers, gates, valves, and hoists.

[0066] The scenario content covers the upstream and downstream navigation channel and anchorage scenarios, the upstream and downstream approach channel scenarios, the ship lock body, i.e., at least one of the lock head, lock chamber, gate, and water delivery valve, electromechanical equipment, i.e., at least one of the hoist, console, and signal light, and auxiliary facilities such as bollards and ship berthing piers. Through land-water integrated modeling, the seamless splicing of underwater topography and surface scenarios is solved, and the full-element digitization of the ship lock and its surrounding environment is realized.

[0067] Step 3: Construct the digital twin model of the ship;

[0068] Specifically, according to Step 1, the digital twin model of the ship is constructed in equal proportion through ship design drawings, ship appearance photos and 3D laser point cloud data, covering different ship types such as bulk carriers, container ships, general cargo ships, multi-purpose ships, passenger ships, and dangerous goods ships, as well as different load states such as full load, no load, and half load.

[0069] The ship digital twin has precise three-dimensional dimensions, draft gauge, freeboard deck edge features, and superstructure outline. It also supports calculating the draft by comparing the difference between the molded depth and the visually detected freeboard, providing a twin comparison benchmark for automatic draft detection.

[0070] Step 4: Integrate the digital twin scene of the lock and the digital twin model of the ship;

[0071] Specifically, according to steps one, two, and three, the digital twin system integrates the lock and its surrounding land-water integrated digital twin scenario, as well as digital twins of various types of ships, to construct a digital twin lock scenario that is precisely mapped to the physical world, thereby achieving spatiotemporal and state synchronization between the physical lock and the virtual lock.

[0072] Step 5: Intervene with data collected in real time by ubiquitous sensing devices;

[0073] Specifically, safety monitoring data collected in real time by ubiquitous sensing devices deployed at key locations in the lock is accessed through industrial fiber optic networks or 5G wireless networks. This data includes: draft and over-height detection data, lock entry identity and quantity confirmation data, lock chamber sizing and mooring data, vessel over-line data, gate area safety data, lock chamber emptying data, and operating environment data.

[0074] Among them, the draft and height detection data are collected by day and night detection cameras, ship draft capture cameras, water level gauges and lidar deployed at anchorages and pilot channel entrances to detect the ship's draft and height above the waterline.

[0075] The data for confirming the identity and number of vessels entering the lock is obtained by collecting the identity, course, and number of vessels entering the lock through smart checkpoint cameras and AIS receivers deployed outside the upstream and downstream gates.

[0076] The lock chamber berthing and mooring data are obtained by comparing the ship's berthing position with the berthing diagram and identifying the mooring status of the bow and stern berthings through video tracking equipment and panoramic AR cameras deployed in the lock chamber area.

[0077] Vessel crossing data includes alarm information collected by thermal imaging and visible light cameras deployed above the no-stopping zone in the lock chamber, which detect vessels crossing the warning line.

[0078] Safety data for the gate area includes pedestrian intrusion alarms collected by pedestrian detection cameras installed above the gate, as well as gate alignment status and gate head agitation data collected by alignment sensors and agitation sensors installed on the gate.

[0079] The data on the lock chamber's exit includes the identification results of whether there are ships and pedestrians inside the lock chamber, collected from the overhead view images of the lock chamber captured by cameras installed at the top of the lock tower.

[0080] Operating environment data, including water level and tide data collected by upstream and downstream navigation channel water level gauges, lock chamber water level gauges, and tidal monitoring sensors.

[0081] Step 6: Connect the mechanical and electromechanical operation control signals of the lock;

[0082] Specifically, the system connects to the industrial control network and safety PLC interface, integrating control signals and status feedback signals from the lock's automated operation control system. These signals include: control commands and position status feedback for the gate opening / closing mechanisms; control commands and opening / closing degree feedback for the water supply valve opening / closing mechanisms; operating mode signals from the lock's centralized control system; control signals for traffic lights; and control signals for outdoor lighting and broadcasting systems. The traffic light control signals include green lights for upward movement, downward movement, entering the lock, and exiting the lock (red). In particular, a safety interlock signal interface is connected, allowing the digital twin system to send interrupt commands to the control system, such as triggering a gate stop when a pedestrian enters.

[0083] Step 7: Use the accessed real-time sensing data to drive the digital twin scene and the ship's digital twin;

[0084] Specifically, according to step five, the system uses the accessed real-time safety perception data to drive the digital twin scenario to achieve the dual functions of "data-driven + safety linkage," including water level drive, gate / valve drive, ship dynamic drive, draft / excessive height safety drive (i.e., highlighting and pushing interception signals when exceeding the limit), gear comparison drive (i.e., correct / incorrect berthing identification), mooring status drive (i.e., timeout alarm), over-line alarm drive (i.e., linkage of audible and visual alarms), pedestrian intrusion drive and interlocking (i.e., highlighting the intrusion location and sending safety interlocking commands to the control system), gate health drive (i.e., waveform diagram and 3D attitude simulation), and lock chamber emptying drive (i.e., updating the lock chamber status and linkage to open the green light for the next gate entry). Through the above driving mechanism, the real-time dynamic synchronization between the digital twin scenario and the physical lock operation is achieved, forming a safety closed loop of "perception-twin-judgment-linkage."

[0085] Step 8: Control and interact with the device in the digital twin scenario;

[0086] Specifically, according to step six, the system connects to the control signals and safety interlock signals of the lock's automated operation control system. In the digital twin scenario, it can remotely monitor the status and manage the operation permissions of equipment such as gate hoists, water valves, and traffic lights. When the digital twin system determines a risk based on safety perception data, such as pedestrian intrusion, vessel crossing the line, or abnormal gate alignment, it sends an interrupt command to the control system through the safety interlock signal interface. The physical equipment immediately stops operating, and the execution result is dynamically reconstructed in real time in the twin scenario through the function in step seven. This upgrades the digital twin system from "passive display" to "proactive safety management."

[0087] Step nine: Integrate the lock video surveillance footage with the digital twin scene;

[0088] Specifically, according to step five, the accessed lock video monitoring footage, through video fusion and AR overlay technology, can be fused and mapped with a 3D model in a digital twin scene. Vessel identification information, lock passage scheduling information, and real-time safety status are then overlaid on the video footage, achieving an integrated monitoring effect that combines virtual and real elements and enhances information. The vessel identification information includes the vessel name, type, load capacity, and draft; the lock passage scheduling information includes the berth number and planned berth; and the real-time safety status includes whether the vessel is overloaded and whether it is moored.

[0089] Step 10: Activate the data panel function.

[0090] Specifically, according to steps one, two, and three, the digital twin lock system also includes a data control panel that displays key lock operation indicators in real time: daily waiting count, daily passage count, daily passage volume, cumulative passage volume, line graphs showing waiting trends at upstream and downstream anchorages, bar charts showing passage volume statistics, pie charts showing the percentage of different ship types (including dry cargo ships, container ships, multi-purpose ships, and dangerous goods ships), pie charts showing the percentage of different cargo types (including coal, containers, and others), data for the past week on tide levels, and real-time waveforms from the gate load meter. It also displays the real-time status and latest alarm information of each safety sensing subsystem.

[0091] Step 11: Activate the alarm function.

[0092] Specifically, according to steps seven and eight, the digital twin lock system provides a tiered alarm function, divided into three levels based on risk level: alert, warning, and interlock. The alert level includes instances of vessels deviating from the berthing chart, mooring delays, and normal gate wear data recordings. The warning level includes instances of vessels exceeding draft / height limits, gate alignment deviation exceeding limits, abnormal gate head movement, abnormal water level fluctuations, tidal surge approaching the warning value, and wind reaching the warning value. The interlock level includes instances of pedestrians entering the lock area, vessels crossing the line and not exiting, abnormal increases or decreases in load cell data during gate opening and closing (potentially due to jamming), and dangerous goods vessels illegally entering the prohibited area. Alarms at each level are highlighted and displayed in the digital twin scenario, with pop-up notifications and accompanying audio-visual effects. Interlock level alarms automatically trigger safety interlock commands, sending emergency stop or prohibition commands to the control system via the interface in step eight, and displaying the "safety interlock triggered" status in the digital twin scenario.

[0093] Step 12: Activate the lock maintenance function.

[0094] Based on steps one and two, the digital twin lock system also provides intelligent lock maintenance functions. Users can conduct on-site inspections using a maintenance app, scanning equipment QR codes to access equipment files in the twin model. When problems are detected, users can report them to the digital twin system with one click via GPS location, taking photos, and describing the problem in voice / text. The system automatically generates a problem marker at the corresponding location in the digital twin scene, linking the photo and description. Maintenance personnel can intuitively view the problem distribution in the twin scene, develop maintenance plans, assign tasks, and track maintenance progress, achieving closed-loop management of inspection, reporting, handling, and acceptance.

[0095] This application constructs a closed-loop safety management and control system of "perception-twin-determination-linkage," achieving automatic determination of unmanned safety preconditions at key nodes throughout the entire lock passage process. It can automatically trigger emergency stops of equipment in dangerous situations such as pedestrian intrusion, vessel overtravel, and gate jamming, significantly improving the safety and automation level of lock operation. Compared to existing technologies, this application not only "sees" the lock's operational status but also "manages" safety risks, achieving a substantial advancement from passive display to proactive safety management.

[0096] Example 3

[0097] Embodiment 3 of this application provides a lock safety perception and intelligent control system for executing the lock safety perception and intelligent control methods in Embodiments 1 and 2 of this application, including: a model building module, a digital twin scenario building module, a safety monitoring module, and a safety alarm module;

[0098] The system comprises several modules: a model building module for constructing a digital twin foundation engine for automated operation and management of the lock; a model for building a high-precision digital twin scene that integrates multi-beam underwater terrain and land-water integration; a digital twin model for constructing a ship digital twin based on ship design drawings, ship exterior photographs, and 3D laser point cloud data; a digital twin scene construction module for integrating the high-precision digital twin scene model with the ship digital twin model to construct a digital twin scene; a safety monitoring module for collecting real-time safety monitoring data of key lock locations via a data network, including at least one of the following: draft and over-height detection data, lock entry identity and quantity confirmation data, lock chamber grading and mooring data, ship over-line data, gate area safety data, lock chamber emptying data, and operating environment data; and a safety alarm module for using safety monitoring data to drive the digital twin scene, detecting and alarming for lock safety, and sending an interrupt command to the control system when a risk is detected, thus achieving safety perception and intelligent management of the lock.

[0099] Example 4

[0100] Having introduced the lock safety perception and intelligent control system in an exemplary embodiment of this application, we will now introduce a computing device in another exemplary embodiment of this application.

[0101] Those skilled in the art will understand that various aspects of this application can be implemented as a system, method, or program product. Therefore, various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "system."

[0102] In some possible implementations, the computing device according to this application may include at least one processor and at least one memory. The memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the cross-device assisted interaction method for off-site clearing according to various exemplary embodiments of this application described above.

[0103] The following reference Figure 3 To describe a computing device 130 according to this embodiment of the present application. Figure 3 The computing device 130 shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application. Figure 3 As shown, the computing device 130 is presented in the form of a general-purpose smart terminal (or Bluetooth headset). The components of the computing device 130 may include, but are not limited to: at least one processor 131, at least one memory 132, and a bus 133 connecting different system components (including memory 132 and processor 131).

[0104] Bus 133 represents one or more of several bus architectures, including a memory bus or memory controller, peripheral bus, processor, or local bus using any of the various bus architectures. Memory 132 may include readable media in the form of volatile memory, such as random access memory (RAM) 1321 and / or cache memory 1322, and may further include read-only memory (ROM) 1323. Memory 132 may also include a program / utility 1325 having a set (at least one) of program modules 1324, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0105] The computing device 130 can also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), and / or with any device that enables the computing device 130 to communicate with one or more other smart terminals (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 135. Furthermore, the computing device 130 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 136. As shown, network adapter 136 communicates with other modules used in the computing device 130 via bus 133. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the computing device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0106] In some possible implementations, various aspects of the lock safety sensing and intelligent control method provided in this application can also be implemented in the form of a program product, which includes a computer program. When the program product is run on a computer device, the computer program is used to cause the computer device to perform the steps in the lock safety sensing and intelligent control method according to the various exemplary embodiments of this application described above.

[0107] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] The program product for lock safety sensing and intelligent control according to the embodiments of this application can be a portable compact disc read-only memory (CD-ROM) and include a computer program, and can run on a smart terminal. However, the program product of this application is not limited to this. In this document, the readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, device, or apparatus.

[0109] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a readable computer program. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0110] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0111] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable access frequency prediction device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable access frequency prediction device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium capable of directing a computer or other programmable access predictive device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable access predictive device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0116] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for safety sensing and intelligent control of ship locks, characterized in that, include: Construct a digital twin foundation engine for automated operation and control of ship locks, and build a high-precision twin scene model that integrates multibeam underwater terrain and land-water integration based on the digital twin foundation engine; A digital twin model of the ship is constructed based on the ship's design drawings, exterior photographs, and 3D laser point cloud data; The high-precision twin scene model is integrated with the ship digital twin model to construct a digital twin scene; The safety monitoring data of key locations in the lock is collected in real time through a data network; wherein the safety monitoring data includes at least one of the following: draft and over-height detection data, lock entry identity and number confirmation data, lock chamber sluice gate and mooring data, vessel over-line data, gate area safety data, lock chamber emptying data, and operating environment data. The aforementioned safety monitoring data is used to drive a digital twin scenario to detect and alarm on the safety of the lock. When a risk is detected, an interrupt command is sent to the control system to achieve safety perception and intelligent management of the lock.

2. The method according to claim 1, characterized in that, The construction of a digital twin foundation engine for automated operation and management of ship locks includes building a high-precision twin scene model integrating multi-beam underwater terrain and land-water integration based on the digital twin foundation engine, including: The digital twin basic engine has a built-in dynamic component library for lock operation, including at least one of the following: water level driven dynamic rendering of the water surface, gate or valve opening and closing simulation component, ship navigation trajectory tracking component, and signal light status synchronization component. The multi-source geographic information data includes at least one of the following: remote sensing maps and digital elevation data, oblique photogrammetry data, multibeam underwater topographic measurement data, lock design drawings, and building information models. The high-precision twin scene model covers at least one of the following: upstream and downstream waterways and anchorages, upstream and downstream pilot channels, lock body, electromechanical equipment, mooring bollards, and berthing piers.

3. The method according to claim 1, characterized in that, The method further includes: Through the industrial control network and the interface of the safe programmable logic controller, it is connected to the ship lock automated operation control system to generate control signals and status feedback signals. Among them, the control signals and status feedback signals include at least one of the following: control commands and position status feedback of gate hoists, control commands and opening / closing degree feedback of water valve hoists, operation mode signals of the lock centralized control system, control signals of traffic lights, and control signals of outdoor lighting and broadcasting systems.

4. The method according to claim 1, characterized in that, When a risk is detected, an interrupt command is sent to the control system to achieve safety awareness and intelligent management of the lock, including: In a digital twin scenario, remote status monitoring and operation permission management are implemented for gate hoists, water valves, and traffic lights. When the digital twin system determines that there is a risk based on safety perception data, it sends an interrupt command to the control system through the safety interlock signal interface, and the physical equipment immediately stops operating.

5. The method according to claim 1, characterized in that, The method of sending an interrupt command to the control system when a risk is detected, thereby realizing the safety perception and intelligent control of the lock, also includes: The instructions sent to the control system are divided into three levels based on the risk level: prompt, warning, and interlock. The alert level includes at least one of the following: the vessel's berthing position deviates from the berthing chart, the mooring is not completed within the specified time, or the gate's normal wear data record; the warning level includes at least one of the following: the vessel's draft or height exceeds the limit, the gate's alignment deviation exceeds the limit, the gate head bounces abnormally, the water level fluctuates abnormally, the tidal surge approaches the warning value, or the wind force reaches the warning value; the interlocking level includes at least one of the following: pedestrians enter the gate area, vessels cross the line and do not leave, the load cell data changes abnormally during the gate opening and closing process, or dangerous goods vessels illegally enter the no-stopping zone. The interlocking alarm automatically triggers an interrupt command, sending an emergency stop or prohibition command to the control system.

6. The method according to claim 1, characterized in that, The method further includes: By storing equipment files in the ship's digital twin model, when a problem is discovered, a problem marker is generated at the corresponding location in the digital twin scene, which can then be used by maintenance personnel to develop maintenance plans.

7. A lock safety sensing and intelligent control system, characterized in that, include: The model building module is used to build a digital twin foundation engine for the automated operation and control of ship locks, and to build a high-precision twin scene model that integrates multibeam underwater terrain and water-land integration based on the digital twin foundation engine. The model building module is also used to build a digital twin model of the ship based on the ship design drawings, ship exterior photos and three-dimensional laser point cloud data; The digital twin scene construction module is used to integrate the high-precision twin scene model with the ship digital twin model to construct a digital twin scene. The safety monitoring module is used to collect safety monitoring data of key locations in the lock in real time through a data network; wherein, the safety monitoring data includes at least one of the following: draft and over-height detection data, lock entry identity and number confirmation data, lock chamber sluice gate and mooring data, vessel over-line data, gate area safety data, lock chamber emptying data, and operating environment data; The safety alarm module is used to drive the digital twin scenario with the safety monitoring data to detect and alarm the safety of the lock. When a risk is detected, it sends an interrupt command to the control system to realize the safety perception and intelligent management of the lock.

8. A computing device, characterized in that, Its features include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the method as described in any one of claims 1-6 according to the obtained program instructions.

9. A computer-readable storage medium, characterized in that, Includes computer-readable instructions that, when read and executed by a computer, cause the method as described in any one of claims 1 to 6 to be implemented.

10. A computer program product, characterized in that, It includes a computer program executable by a computer device, which, when run on the computer device, causes the computer device to perform the steps of the method according to any one of claims 1 to 6.

Images